Abduction and Yaw Motors

Cassie Kinematic Model

Rigid Bodies on Cassie

--- Pelvis --- Yaw --- Hip --- Thigh --- Knee --- Shin --- Tarsus --- Toe ---
--- Knee Spring --- Heel Spring --- Toe Output Crank --- Plantar Rod --- Achilles Rod ---

Motors in Cassie

--- Abduction/Yaw Motors --- Hip/Knee Motors --- Toe Motor ---

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Abduction/Yaw Motor Specs

ROM (Abduction) = Max = 20 deg (away from pelvis), Min = -15 deg (towards pelvis)
ROM (Yaw) = +/- 22 deg
Gear ratio = 25:1 speed reduction
Max motor torque = 4.5 N-m
Max motor speed = 2900 rpm
Motor shaft inertia = 61 kg.mm^2

Locations

Abduction motor connects Abduction Gimbal to Yaw Gimbal
Yaw motor connects Yaw Gimbal to Hip